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Adaptive asymptotic tracking control of quadrotor UAVs with error constraints and unknown disturbances.

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Title: Adaptive asymptotic tracking control of quadrotor UAVs with error constraints and unknown disturbances.
Authors: Li, Jiao‐Jiao1 (AUTHOR), Sun, Zong‐Yao1 (AUTHOR) sunzongyao@sohu.com, Ai, Yue1 (AUTHOR), Chen, Chih‐Chiang2 (AUTHOR)
Source: Asian Journal of Control. Sep2026, Vol. 28 Issue 5, p2179-2189. 11p.
Subjects: Tracking control systems, Quadrotor helicopters, Robust control, Asymptotic analysis, Feedback control systems
Abstract: This study focuses on resolving two important issues in quadrotor UAVs tracking control: (i) developing an accurate dynamic model despite unpredictable external disturbances and (ii) ensuring asymptotic convergence of both position and attitude tracking for arbitrary reference trajectories, without violating predefined error bounds. The core challenges involve compensating for unmodeled disturbances and adhering to strict tracking constraints. To address these, a novel adaptive tracking controller is designed by incorporating logarithmic barrier functions and a time‐based exponentially decaying term. Unlike conventional methods, the proposed approach offers not only enhanced robustness against uncertain disturbances, but also a unified control architecture for seamless position and attitude regulation. Numerical simulations confirm the strategy's effectiveness. [ABSTRACT FROM AUTHOR]
Copyright of Asian Journal of Control is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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DbLabel: Engineering Source
An: 196760131
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PubTypeId: academicJournal
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  Data: Adaptive asymptotic tracking control of quadrotor UAVs with error constraints and unknown disturbances.
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  Data: <searchLink fieldCode="AR" term="%22Li%2C+Jiao‐Jiao%22">Li, Jiao‐Jiao</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Sun%2C+Zong‐Yao%22">Sun, Zong‐Yao</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> sunzongyao@sohu.com</i><br /><searchLink fieldCode="AR" term="%22Ai%2C+Yue%22">Ai, Yue</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Chen%2C+Chih‐Chiang%22">Chen, Chih‐Chiang</searchLink><relatesTo>2</relatesTo> (AUTHOR)
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  Data: <searchLink fieldCode="JN" term="%22Asian+Journal+of+Control%22">Asian Journal of Control</searchLink>. Sep2026, Vol. 28 Issue 5, p2179-2189. 11p.
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  Data: <searchLink fieldCode="DE" term="%22Tracking+control+systems%22">Tracking control systems</searchLink><br /><searchLink fieldCode="DE" term="%22Quadrotor+helicopters%22">Quadrotor helicopters</searchLink><br /><searchLink fieldCode="DE" term="%22Robust+control%22">Robust control</searchLink><br /><searchLink fieldCode="DE" term="%22Asymptotic+analysis%22">Asymptotic analysis</searchLink><br /><searchLink fieldCode="DE" term="%22Feedback+control+systems%22">Feedback control systems</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: This study focuses on resolving two important issues in quadrotor UAVs tracking control: (i) developing an accurate dynamic model despite unpredictable external disturbances and (ii) ensuring asymptotic convergence of both position and attitude tracking for arbitrary reference trajectories, without violating predefined error bounds. The core challenges involve compensating for unmodeled disturbances and adhering to strict tracking constraints. To address these, a novel adaptive tracking controller is designed by incorporating logarithmic barrier functions and a time‐based exponentially decaying term. Unlike conventional methods, the proposed approach offers not only enhanced robustness against uncertain disturbances, but also a unified control architecture for seamless position and attitude regulation. Numerical simulations confirm the strategy's effectiveness. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of Asian Journal of Control is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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RecordInfo BibRecord:
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      – Type: doi
        Value: 10.1002/asjc.3847
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      – Code: eng
        Text: English
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      Pagination:
        PageCount: 11
        StartPage: 2179
    Subjects:
      – SubjectFull: Tracking control systems
        Type: general
      – SubjectFull: Quadrotor helicopters
        Type: general
      – SubjectFull: Robust control
        Type: general
      – SubjectFull: Asymptotic analysis
        Type: general
      – SubjectFull: Feedback control systems
        Type: general
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      – TitleFull: Adaptive asymptotic tracking control of quadrotor UAVs with error constraints and unknown disturbances.
        Type: main
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            NameFull: Li, Jiao‐Jiao
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            NameFull: Sun, Zong‐Yao
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            NameFull: Ai, Yue
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            NameFull: Chen, Chih‐Chiang
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          Dates:
            – D: 01
              M: 09
              Text: Sep2026
              Type: published
              Y: 2026
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              Value: 15618625
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              Value: 28
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              Value: 5
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            – TitleFull: Asian Journal of Control
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